version: 66.14
glider: 404
mission: 6
dive: 7
start: 7 20 118 0 52 44
data:
$ID,404
$MISSION,6
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74482
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,530
$PITCH_MAX,3860
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.02
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,45
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,50
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3680
$C_VBD,2250
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,280
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,1.2
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.240669
$PRESSURE_SLOPE,2.575e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.7
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043947315
$SEABIRD_T_H,0.00063707196
$SEABIRD_T_I,2.5246234e-05
$SEABIRD_T_J,3.049423e-06
$SEABIRD_C_G,-9.6769676
$SEABIRD_C_H,1.1278293
$SEABIRD_C_I,-0.0014273003
$SEABIRD_C_J,0.00018861827
$SEABIRD_C_Z,2932.53
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,200718,004007,4743.1719,-12224.6904,7,0.9,12,16.3,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-51.6
$GPS2,200718,005135,4743.1392,-12224.6699,5,0.9,14,16.3,0.0,211.8,9,10.0
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.021717,0.319919
$KALMAN_X,1093.796143,583.851990,214.501419,-1920.158691,-33.680634
$KALMAN_Y,793.416382,475.339264,149.943558,-660.838623,11.392624
$MHEAD_RNG_PITCHd_Wd,339.8,1602,-13.1,-10.000,-17.32,3645
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-1.24,-244.4,549,1961,1774,2047,0.0,0.0,0,17,0.00,0.00,-5.30,0.000,16390,0.000,0.000,550,1961,2515,2515,2047,0,0,0,0,0,0,26.65,25.15,26.65,9.96,55.86
$GC,19,-1.24,-244.4,549,1961,2521,2047,0.0,0.0,0,49,23.33,3.03,0.00,0.000,2820,0.147,0.065,2337,860,2524,2524,2047,0,0,0,0,0,0,26.17,26.23,26.32,10.13,56.61
$GC,92,-1.24,-244.4,2338,863,2524,2047,13.0,-16.4,5,97,0.00,2.72,0.00,0.000,1030,0.000,0.031,2339,1930,2524,2524,2047,0,0,0,0,0,0,26.46,26.39,26.48,10.18,55.23
$GC,290,-1.24,-244.4,2348,1930,2527,2047,35.6,-10.8,18,295,0.00,2.92,0.00,0.000,260,0.000,0.054,2338,3039,2532,2532,2048,0,0,0,0,0,0,26.89,26.48,26.87,10.13,54.68
$GC,401,-1.24,-244.4,2338,3039,2530,2048,45.8,-8.7,25,407,0.00,2.75,0.00,0.000,1030,0.000,0.035,2339,1948,2531,2531,2048,0,0,0,0,0,0,26.67,26.60,26.74,10.12,54.72
$GC,594,-1.24,-244.4,2338,1948,2533,2048,62.3,-8.5,38,600,0.00,2.92,0.00,0.000,516,0.000,0.066,2341,861,2534,2534,2048,0,0,0,0,0,0,27.01,26.60,27.02,10.09,56.10
$GC,660,-1.24,-244.4,2338,861,2535,2048,68.9,-10.3,42,666,0.00,2.72,0.00,0.000,1030,0.000,0.032,2339,1953,2539,2539,2050,0,0,0,0,0,0,26.80,26.77,26.82,10.11,54.92
$GC,853,-1.24,-244.4,2338,1954,2542,2050,89.4,-10.3,55,859,0.00,2.83,0.00,0.000,260,0.000,0.056,2339,3037,2539,2539,2048,0,0,0,0,0,0,27.08,26.70,27.10,10.05,55.07
$GC,988,-1.24,-244.4,2335,3037,2541,2048,102.1,-9.9,63,995,0.00,2.72,0.00,0.000,1030,0.000,0.035,2339,1950,2542,2542,2048,0,0,0,0,0,0,26.88,26.79,26.87,10.11,54.72
$GC,1174,-1.24,-244.4,2338,1949,2545,2048,120.5,-9.5,76,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1949,2544,2544,2042,0,0,0,0,0,0,27.15,27.17,27.17,10.10,55.43
$GC,1354,-1.24,-244.4,2339,1950,2548,2042,136.7,-9.0,88,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1952,2555,2555,2047,0,0,0,0,0,0,27.18,27.20,27.20,10.10,55.98
$STATE,1488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1488,begin apogee
$GC,1492,-0.33,0.0,2338,1862,2549,2047,150.2,-10.2,97,1519,3.25,0.00,16.02,1.854,10246,0.075,0.000,2629,1866,2249,2249,2047,0,0,0,0,0,0,26.82,26.03,24.79,10.11,56.26
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1522,1.24,244.4,2629,1866,2249,2047,152.0,0.0,99,1550,5.22,0.00,14.60,1.815,10246,0.047,0.000,3117,1865,1984,1984,2047,0,0,0,0,0,0,26.30,25.27,24.35,10.04,55.23
$GC,1729,1.33,301.2,3116,1866,1981,2047,135.9,8.4,113,1736,0.22,0.00,4.70,1.130,10246,0.055,0.000,3143,1866,1921,1921,2058,0,0,0,0,0,0,26.37,26.03,24.87,9.98,55.35
$GC,1909,1.35,318.6,3143,1866,1918,2058,117.6,9.5,125,1914,0.00,0.00,2.40,0.317,8198,0.000,0.000,3143,1860,1909,1909,2053,0,0,0,0,0,0,26.77,26.30,25.12,9.97,55.71
$GC,2089,1.36,322.5,3136,1874,1905,2053,99.6,9.9,137,2091,0.00,0.00,0.28,0.008,8198,0.000,0.000,3142,1866,1905,1905,2047,0,0,0,0,0,0,26.88,26.86,26.86,9.96,55.63
$GC,2269,1.36,322.5,3142,1866,1902,2047,81.5,11.0,149,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1866,1902,1902,2047,0,0,0,0,0,0,26.97,26.99,26.98,9.95,56.22
$GC,2449,1.38,335.2,3142,1865,1897,2047,62.3,9.6,161,2454,0.15,0.00,2.28,0.180,10246,0.069,0.000,3157,1871,1889,1889,2047,0,0,0,0,0,0,26.79,26.52,25.58,9.90,56.34
$GC,2629,1.38,335.2,3156,1866,1882,2047,43.9,10.5,173,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1866,1886,1886,2047,0,0,0,0,0,0,27.09,27.10,27.10,9.95,56.34
$GC,2809,1.41,354.2,3157,1866,1885,2047,27.2,9.5,185,2819,0.00,2.88,2.45,0.189,8452,0.000,0.050,3170,2960,1869,1869,2047,0,0,0,0,0,0,27.17,26.66,25.83,9.95,56.45
$GC,2873,1.41,354.2,3162,2959,1865,2047,20.6,10.4,189,2878,0.00,2.72,0.00,0.000,1030,0.000,0.038,3162,1881,1868,1868,2048,0,0,0,0,0,0,26.89,26.82,26.91,9.94,57.00
$STATE,3054,end climb,SURFACE_DEPTH_REACHED
$STATE,3055,begin surface coast
$FINISH,0.5,1.021949
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3071,begin surface
$SM_CCo,3165,0.00,0.000,0,0,1862,358.28
$SM_GC,0.80,27.20,0.17,0.00,0.033,0.062,0.000,550,1970,1862,-6.84,-1.23,358.28,0,0,0,0,0,0,26.84,26.94,26.90
$IRIDIUM_FIX,4808.40,-12337.82,190718,233419
$TT8_MAMPS,0.024717,0.447902
$HUMID,56.81
$INTERNAL_PRESSURE,9.90201
$TCM_TEMP,10.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.0,88.4
$SC_FREEKB,3906560
$24V_AH,24.35,3.814
$10V_AH,10.44,6.984
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,59.375,28.575,42.725,0.000,0.000,25.517,25.302,498.204,0.750,0.000,15.550,666.363,1868.337,133.995,1152.619,61.552,33.428,373.920,0.000,393.143,0.000,9.900,0.000
$DEVICE_MAMPS,146.880,78.030,1854.360,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.313,0.000,0.000,0.000
$MEM,344344
$DATA_FILE_SIZE,7085,202
$CAP_FILE_SIZE,46222,0
$CFSIZE,1023623168,1019199488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200718,014636,4743.414,-12224.718,6,0.8,26,16.3,0.0,0.0,10,9.4